Abstract
Aim at the need of excessive freedom jointing robot real time measuring joint angle positions during work process, The engineer is an measure system of excessive freedom jointing robot, which are base on absoluteness type photo-electricity coder and TMS320F2812. The system have more group sixteen bits IO and SCI communicate interface, which can make jointing robot real time measuring, and implement the visual interface of the upper machine .The system has well real time and friendly human-machine interface, which is the same with minutely machining appliance extensive.
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